CN106828192A - Motor control method and device and automobile - Google Patents
Motor control method and device and automobile Download PDFInfo
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- CN106828192A CN106828192A CN201710102560.1A CN201710102560A CN106828192A CN 106828192 A CN106828192 A CN 106828192A CN 201710102560 A CN201710102560 A CN 201710102560A CN 106828192 A CN106828192 A CN 106828192A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000008859 change Effects 0.000 claims description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 6
- 230000006378 damage Effects 0.000 abstract description 6
- 208000014674 injury Diseases 0.000 abstract description 6
- 238000011217 control strategy Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000001143 conditioned effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a motor control method, a motor control device and an automobile, wherein the motor control method comprises the following steps: acquiring the current running state of the vehicle; and judging whether the vehicle is in a slope slipping state or not according to the current running state of the vehicle, and outputting a torque output control command with a first preset torque value to the motor when the current running state of the vehicle indicates that the vehicle is in the slope slipping state and the slope slipping state is a controllable state. According to the embodiment of the invention, when the vehicle is in the slope slipping state and the slope slipping state is controllable, the slope slipping is prevented by controlling the output torque of the motor. And can realize the control of preventing slipping away the slope repeatedly many times, can effectually prevent the injury of vehicle to pedestrian or other vehicles, can remind navigating mate vehicle present state repeatedly simultaneously to the driver is urged to make correct reaction and operation.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of motor control method, device and automobile.
Background technology
Prior art is all mostly that single is realized in anti-slipping by slope in the realization of function, and what can't be continued gives driver's prompting
And protect vehicle.Only once prevent slipping by slope the realization of function, generation accident is slipped after can not effectively preventing vehicle, if driver is not
Can in time learn that the state of slipping by slope is likely to result in danger.Meanwhile, in the scheme of prior art, some use brakes carry out anti-slip
The realization of slope function, equally exists above risk.Meanwhile, multiple control strategy increased control failure or risk out of control.
The content of the invention
The embodiment of the present invention technical problem to be solved is to provide a kind of motor control method, device and automobile, to reality
It is now sustainable repeatedly to carry out preventing slipping by slope, and control strategy is succinct, reduces the risk that control is failed.
In order to solve the above technical problems, a kind of motor control method is the embodiment of the invention provides, including：
Obtain vehicle current operating conditions；
Whether vehicle is judged in state is slipped by slope according to the vehicle current operating conditions, when the vehicle currently runs shape
State represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, be output as the first predetermined torque value to motor
Torque output control instruction.
Further, it is described the torque output control instruction of the first predetermined torque value is output as to motor the step of after,
The motor control method also includes：
The torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
Further, the torque value in the torque output control instruction for being reduced according to scheduled rate and being exported to motor
The step of after, the motor control method also includes：
Obtain the first real time motor rotating speed；
When the first real time motor rotating speed is more than the first preset value, and the vehicle is in the state that slips by slope, described slips by slope
When state is controllable state, the step of being output as the torque output control instruction of the first predetermined torque value to motor is performed again.
Further, it is described to judge whether vehicle is in the step of slipping by slope state and wraps according to the vehicle current operating conditions
Include：
When the vehicle current operating conditions represent that Current vehicle is in vehicle launch, and the state that the vehicle is not travelled
When, obtain current motor direction of rotation and vehicle current gear；
When the current motor direction of rotation represents motor reversal, and the vehicle current gear for preset gear, really
The fixed vehicle is in and slips by slope state.
Further, after the acquisition vehicle current operating conditions, the motor control method also includes：
According to the vehicle current operating conditions, the second real time motor rotating speed is obtained；
When meeting condition：First predetermined torque becomes less than the second predetermined torque, the vehicle current gear
Change, the vehicle current operating conditions represent vehicular electric machine system failure, the absolute value of the second real time motor rotating speed is small
When the second preset value, it is determined that the state that slips by slope is for controllable state, wherein, second predetermined torque slips by slope state for default
The peak torque that lower motor can be output.
The embodiment of the present invention additionally provides a kind of motor control assembly, including：
First acquisition module, for obtaining vehicle current operating conditions；
Control module, for whether judging vehicle in state is slipped by slope according to the vehicle current operating conditions, when described
Vehicle current operating conditions represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, be output as to motor
The torque output control instruction of the first predetermined torque value.
Further, the control module is additionally operable to：
The torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
Further, the motor control assembly also includes：
Second acquisition module, for obtaining the first real time motor rotating speed；
Wherein, the control module is additionally operable to when the first real time motor rotating speed is more than the first preset value, and the car
In slip by slope state, it is described slip by slope state for controllable state when, perform be output as the first predetermined torque value to motor again
The step of torque output control instruction.
Further, the control module is slipped by slope for judging whether vehicle is according to the vehicle current operating conditions
In state, the control module includes：
3rd acquisition module, for representing that Current vehicle is in vehicle launch, and institute when the vehicle current operating conditions
When stating the state that vehicle is not travelled, current motor direction of rotation and vehicle current gear are obtained；
First determining module, for representing motor reversal, and the current shelves of the vehicle when the current motor direction of rotation
When position is for preset gear, determines that the vehicle is in and slip by slope state.
Further, the motor control assembly also includes：
4th acquisition module, for according to the vehicle current operating conditions, obtaining the second real time motor rotating speed；
Second determining module, condition is met for working as：First predetermined torque is less than the second predetermined torque, the vehicle
Current gear does not change, the vehicle current operating conditions represent vehicular electric machine system failure, the described second real-time electricity
When the absolute value of machine rotating speed is less than the second preset value, it is determined that the state that slips by slope is for controllable state, wherein, the described second default torsion
Square is default to slip by slope the peak torque that motor under state can be output.
The embodiment of the present invention additionally provides a kind of automobile, including motor and vehicle processor, and the vehicle processor can use
In acquisition vehicle current operating conditions；Judge that whether vehicle, in state is slipped by slope, works as institute according to the vehicle current operating conditions
State vehicle current operating conditions represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, to motor export
It is the torque output control instruction of the first predetermined torque value.
Compared with prior art, a kind of motor control method provided in an embodiment of the present invention, device and automobile, at least have
Following beneficial effect：The embodiment of the present invention slips by slope state when getting vehicle and be in, and slip by slope state it is controllable when, to controlled motor
Output torque, carries out anti-slipping by slope.And in embodiments of the present invention, the output of moment of torsion can be gradually reduced, to lift driver, and
Re-started under pre-conditioned to controlled motor output torque, realize it is repetitious carry out it is anti-slip by slope control, can be effective
Prevent injury of the vehicle to pedestrian or other vehicles, while the current state of human pilot vehicle can be reminded repeatedly, to superintend and direct
Promote driver to make correct reaction and operate.Meanwhile, succinct control strategy scheme, it is not necessary to the participation of brakes subtracts
The risk of small control failure.Only the anti-of electric system itself participation slips by slope function, it is not necessary to set up other parts, reduces
Development cost.Meanwhile, the embodiment of the present invention only carries out preventing slipping by slope control when the state that slips by slope is controllable, further increases safety
Property.
Brief description of the drawings
Fig. 1 is one of flow chart of motor control method of the embodiment of the present invention；
Fig. 2 is the two of the flow chart of the motor control method of the embodiment of the present invention；
Fig. 3 is the structural representation of the motor control assembly of the embodiment of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.In the following description, there is provided such as specific configuration is only with the specific detail of component
In order to help comprehensive understanding embodiments of the invention.Therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without deviating from scope and spirit of the present invention.In addition, for clarity and brevity, it is right to eliminate
The description of known function and construction.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text means relevant with embodiment
Special characteristic, structure or characteristic are included at least one embodiment of the present invention.Therefore, occur everywhere in entire disclosure
" in one embodiment " or " in one embodiment " not necessarily refers to identical embodiment.Additionally, these specific feature, knots
Structure or characteristic can be combined in one or more embodiments in any suitable manner.
Referring to Fig. 1, a kind of motor control method is the embodiment of the invention provides, including：
Step 101, obtains vehicle current operating conditions；
The current running status of the acquisition vehicle is the judgement for following step, so, current operating conditions include but
It is not limited to：Current vehicle speed, the rotating speed of current motor, the direction of rotation of current motor, the gear signal of vehicle, Current vehicle motor
The working condition of system and the working condition of current motor.
Above are only to realize the motor control method of the embodiment of the present invention parameter to be needed, only part is lifted
Example, is not limited in above-mentioned parameter.
Whether step 102, judge vehicle in state is slipped by slope, when the vehicle is worked as according to the vehicle current operating conditions
Preceding running status represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, be output as first to motor pre-
If the torque output control instruction of torque value.
According to above-mentioned parameter comprehensive descision vehicle whether in slipping by slope state, and judge whether this slips by slope state controllable, if
In the state that slips by slope and to slip by slope state controllable, control instruction is sent to motor, controlled motor output torque carry out it is anti-slip by slope, its
In, the torque value of control instruction is the first predetermined torque value, the gradient that the first predetermined torque value can be presently according to vehicle
Etc. the torque value for calculating the output for needed for preventing from slipping by slope.It should be noted that (being in and slipping only in the case where condition is met
Ramp shaped state and to slip by slope state controllable) controlled motor output torque, output is not suitable under current state is represented if being unsatisfactory for condition
Moment of torsion carries out preventing slipping by slope operation, so controlled motor output torque is not performed.
Wherein, the motor control method of the embodiment of the present invention is only controlled motor output in the case where state controllable state is slipped by slope
In the case that moment of torsion, it is ensured that in particular cases, such as vehicle are clashed into or the gradient is very big, after vehicle high-speed it is sliding (now
The judgement of vehicle condition also complies with the state of slipping by slope), so under such state, vehicle is in and slips by slope uncontrollable situation.Also
It is that controlled motor output torque can cause bigger injury to vehicle and occupant on the contrary in this condition, so moment of torsion can not be carried out
Output is in case slip by slope.
Referring to Fig. 2, it is described the torque output control instruction of the first predetermined torque value is output as to motor the step of after, institute
Stating motor control method also includes：
Step 204, the torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
When vehicle anti-slide and controlled motor output torque carry out anti-slipping by slope, the torque value to controlled output is carried out according to pre-
If rate reduction.The torque value of such as controlled output is 200N (ox), then now with the speed of 2N/s to the torsion in control instruction
Square value is reduced, and then vehicle can be slided slowly afterwards to reduce torque value.Can now play a part of to remind driver.
Referring to Fig. 2, the torque value in the torque output control instruction for being reduced according to scheduled rate and being exported to motor
The step of after, the motor control method also includes：
Step 205, obtains the first real time motor rotating speed；
Step 206, when the first real time motor rotating speed be more than the first preset value, and the vehicle be in slip by slope state,
It is described slip by slope state for controllable state when, the torque output control instruction that the first predetermined torque value is output as to motor is performed again
The step of.
In the above-described embodiments, the torque value for exporting gradually is reduced, then when torque value reduces to a certain extent
When, such as when the required frictional force for overcoming is identical when with stationary vehicle, vehicle or when the value is reduced to because inertia etc. has backward
The trend of slip, and during the equalization point trend more substantially (vehicle actually can't after slip, but have the shake for slipping by slope backward),
Now the rotating speed of motor can increase in moment, and now (first preset value can be according to reality more than the first preset value for the rotating speed of motor
Border situation is made table and is used for control device reference when calculating acquisition or pre-stage test) when, then the anti-operation for slipping by slope is performed again,
The step of being output as the torque output control instruction of the first predetermined torque value to motor is namely performed again.In above-mentioned control
Down achievable vehicle constantly enter it is anti-slips by slope, injury of the vehicle to pedestrian or other vehicles can be effectively prevented, while can be with
The current state of human pilot vehicle is reminded repeatedly, to supervise driver to make correct reaction and operate.Should be noted when,
It is above-mentioned perform the step of being output as the torque output control instruction of the first predetermined torque value to motor again before also need to slipping by slope shape
State is judged.
It is described to judge vehicle according to the vehicle current operating conditions in the motor control method of one embodiment of the invention
Whether being in the step of slipping by slope state includes：
When the vehicle current operating conditions represent that Current vehicle is in vehicle launch, and the state that the vehicle is not travelled
When, obtain current motor direction of rotation and vehicle current gear；
When the current motor direction of rotation represents motor reversal, and the vehicle current gear for preset gear, really
The fixed vehicle is in and slips by slope state.
In the present embodiment, there is provided a kind of to judge the determination methods whether vehicle is in the state that slips by slope, revolved by motor
Turn direction and vehicle current gear judges, when motor direction of rotation represents motor reversal (being now likely to be at the state of slipping by slope), and
Gear is preset gear (such as forward gear).Now vehicular electric machine reversion, it is sliding after vehicle, but gear is forward gear, shows to drive
Personnel are slided after being not intended to vehicle, then now vehicle is in and slips by slope state.Can be that forward gear can also be for preset gear
Neutral.Should be noted when, when on slope, when headstock is downward, gear is also likely to be to reverse gear, that is, it is basis to judge whether to slip by slope
Whether vehicle-state is consistent with motor forward or reverse desired by the driver that gear is represented, when inconsistent, then vehicle is in
Slip by slope state.
Further, after the acquisition vehicle current operating conditions, the motor control method also includes：
Step 203, according to the vehicle current operating conditions, obtains the second real time motor rotating speed；
Obtain herein the second real time motor rotating speed for it is following it is middle judge whether vehicle provides in controllable state and judge parameter,
Following judgements further relate to the parameter in step 101 in vehicle current operating conditions.
When meeting condition：First predetermined torque becomes less than the second predetermined torque, the vehicle current gear
Change, the vehicle current operating conditions represent vehicular electric machine system failure, the absolute value of the second real time motor rotating speed is small
When the second preset value, it is determined that the state that slips by slope is for controllable state, wherein, second predetermined torque slips by slope state for default
The peak torque that lower motor can be output.
Wherein, first predetermined torque is less than the second predetermined torque, means to prevent slipping by slope the moment of torsion for needing motor to export
Less than the second predetermined torque, the second predetermined torque is the default peak torque that motor can be output under anti-slip ramp shaped state.
The vehicle current gear does not change, and means that driver does not carry out other operations, such as driver's consciousness
When adjusting gear etc. to vehicle anti-slide, then motor output torque is not needed to carry out anti-slipping by slope.
The absolute value of the second real time motor rotating speed is less than the second preset value, and being disposed to of the second preset value prevents
The vehicle being mentioned above clashed into or the very big situation of the gradient or vehicle high-speed after sliding situation.Now vehicle rollback is fast
Degree is fast, then the absolute value of motor speed is larger (motor is reversion during because retreating), in order to avoid output torque is caused in the case of this
More major injury, then set a threshold value (the second preset value), when only less than the second preset value, just carries out preventing slipping by slope operation (control
Motor output torque).Second preset value can be according to experimental calibration.
Referring to Fig. 3, the embodiment of the present invention additionally provides a kind of motor control assembly, including：
First acquisition module 301, for obtaining vehicle current operating conditions；
Control module 302, for judging that whether vehicle, in state is slipped by slope, works as institute according to the vehicle current operating conditions
State vehicle current operating conditions represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, to motor export
It is the torque output control instruction of the first predetermined torque value.
Further, the control module 302 is additionally operable to：
The torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
Further, the motor control assembly also includes：
Second acquisition module 303, for obtaining the first real time motor rotating speed；
Wherein, the control module 302 is additionally operable to be more than the first preset value when the first real time motor rotating speed, and described
Vehicle be in slip by slope state, it is described slip by slope state for controllable state when, perform be output as the first predetermined torque value to motor again
Torque output control instruction the step of.
Further, the control module 302 is used to judge whether vehicle is according to the vehicle current operating conditions
Slip by slope in state, the control module 302 includes：
3rd acquisition module 304, for representing that Current vehicle is in vehicle launch when the vehicle current operating conditions, and
During the state that the vehicle is not travelled, current motor direction of rotation and vehicle current gear are obtained；
First determining module 305, for representing motor reversal when the current motor direction of rotation, and the vehicle is current
When gear is preset gear, determines that the vehicle is in and slip by slope state.
Further, the motor control assembly also includes：
4th acquisition module 306, for according to the vehicle current operating conditions, obtaining the second real time motor rotating speed；
Second determining module 307, condition is met for working as：First predetermined torque is less than the second predetermined torque, described
Vehicle current gear does not change, the vehicle current operating conditions represent vehicular electric machine system failure, second reality
When motor speed absolute value when being less than the second preset value, it is determined that the state that slips by slope is for controllable state, wherein, described second is pre-
If moment of torsion is default to slip by slope the peak torque that motor under state can be output.
The embodiment of the present invention additionally provides a kind of automobile, including motor and vehicle processor, and the vehicle processor can use
In acquisition vehicle current operating conditions；Judge that whether vehicle, in state is slipped by slope, works as institute according to the vehicle current operating conditions
State vehicle current operating conditions represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, to motor export
It is the torque output control instruction of the first predetermined torque value.
The entire car controller of the automobile of the present embodiment can perform the above control method.
To sum up, the embodiment of the present invention slips by slope state when getting vehicle and be in, and slip by slope state it is controllable when, to controlled motor
Output torque, carries out anti-slipping by slope.And in embodiments of the present invention, the output of moment of torsion can be gradually reduced, to lift driver, and
Re-started under pre-conditioned to controlled motor output torque, realize it is repetitious carry out it is anti-slip by slope control, can be effective
Prevent injury of the vehicle to pedestrian or other vehicles, while the current state of human pilot vehicle can be reminded repeatedly, to superintend and direct
Promote driver to make correct reaction and operate.Meanwhile, succinct control strategy scheme reduces the risk of control failure.Only
There is the anti-of electric system itself participation to slip by slope function, it is not necessary to which other parts are participated in, and reduce development cost.Meanwhile, this hair
Bright embodiment only carries out preventing slipping by slope control when the state that slips by slope is controllable, further increases security.
Also, it should be noted that herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and between not necessarily requiring or implying these entities or operate
There is any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to contain
Lid nonexcludability is included.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (11)
1. a kind of motor control method, it is characterised in that including：
Obtain vehicle current operating conditions；
Whether vehicle is judged in state is slipped by slope according to the vehicle current operating conditions, when the vehicle current operating conditions table
Show vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, the torsion of the first predetermined torque value is output as to motor
Square output control is instructed.
2. motor control method according to claim 1, it is characterised in that be output as first to motor and default turn round described
After the step of torque output control instruction of square value, the motor control method also includes：
The torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
3. motor control method according to claim 2, it is characterised in that reduced to motor according to scheduled rate described
After the step of torque value in the torque output control instruction of output, the motor control method also includes：
Obtain the first real time motor rotating speed；
When the first real time motor rotating speed is more than the first preset value, and the vehicle is in the state that slips by slope, described slips by slope state
During for controllable state, the step of being output as the torque output control instruction of the first predetermined torque value to motor is performed again.
4. motor control method according to claim 1, it is characterised in that described according to the vehicle current operating conditions
Judge whether vehicle is in the step of slipping by slope state and includes：
When the vehicle current operating conditions represent Current vehicle be in vehicle launch, and the vehicle do not travel state when,
Obtain current motor direction of rotation and vehicle current gear；
When the current motor direction of rotation represents motor reversal, and the vehicle current gear for preset gear, institute is determined
State vehicle be in slip by slope state.
5. motor control method according to claim 1, it is characterised in that in the acquisition vehicle current operating conditions
Afterwards, the motor control method also includes：
According to the vehicle current operating conditions, the second real time motor rotating speed is obtained；
When meeting condition：First predetermined torque does not change less than the second predetermined torque, the vehicle current gear, institute
Stating vehicle current operating conditions represents the absolute value of vehicular electric machine system failure, the second real time motor rotating speed less than second
During preset value, it is determined that the state that slips by slope is for controllable state, wherein, second predetermined torque slips by slope motor under state for default
The peak torque that can be output.
6. a kind of motor control assembly, it is characterised in that including：
First acquisition module, for obtaining vehicle current operating conditions；
Control module, for whether judging vehicle in state is slipped by slope according to the vehicle current operating conditions, when the vehicle
Current operating conditions represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, be output as first to motor
The torque output control instruction of predetermined torque value.
7. motor control assembly according to claim 6, it is characterised in that the control module is additionally operable to：
The torque value in the torque output control instruction exported to motor is reduced according to scheduled rate.
8. motor control assembly according to claim 7, it is characterised in that the motor control assembly also includes：
Second acquisition module, for obtaining the first real time motor rotating speed；
Wherein, the control module is additionally operable to when the first real time motor rotating speed is more than at the first preset value, and the vehicle
In the state that slips by slope, it is described slip by slope state for controllable state when, the moment of torsion that the first predetermined torque value is output as to motor is performed again
The step of output control is instructed.
9. motor control assembly according to claim 6, it is characterised in that the control module is used for according to the vehicle
Whether current operating conditions judge vehicle in the state that slips by slope, and the control module includes：
3rd acquisition module, for representing that Current vehicle is in vehicle launch, and the car when the vehicle current operating conditions
During the state not travelled, current motor direction of rotation and vehicle current gear are obtained；
First determining module, for representing motor reversal when the current motor direction of rotation, and the vehicle current gear is
During preset gear, determine that the vehicle is in and slip by slope state.
10. motor control assembly according to claim 6, it is characterised in that the motor control assembly also includes：
4th acquisition module, for according to the vehicle current operating conditions, obtaining the second real time motor rotating speed；
Second determining module, condition is met for working as：First predetermined torque is current less than the second predetermined torque, the vehicle
Gear does not change, the vehicle current operating conditions represent vehicular electric machine system failure, second real time motor turns
When the absolute value of speed is less than the second preset value, it is determined that the state that slips by slope is for controllable state, wherein, second predetermined torque is
It is default to slip by slope the peak torque that motor under state can be output.
A kind of 11. automobiles, including motor and vehicle processor, it is characterised in that the vehicle processor can be used to obtain vehicle
Current operating conditions；Whether vehicle is judged in state is slipped by slope according to the vehicle current operating conditions, when the vehicle is current
Running status represent vehicle be in slip by slope state, and it is described slip by slope state for controllable state when, to motor be output as first preset
The torque output control instruction of torque value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710102560.1A CN106828192A (en) | 2017-02-24 | 2017-02-24 | Motor control method and device and automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102560.1A CN106828192A (en) | 2017-02-24 | 2017-02-24 | Motor control method and device and automobile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697074A (en) * | 2017-07-12 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Control method, system and the vehicle of electric automobile |
| CN107804192A (en) * | 2017-10-30 | 2018-03-16 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric automobile |
| CN108082006A (en) * | 2017-11-27 | 2018-05-29 | 北京新能源汽车股份有限公司 | Motor controller working state control method and device, controller and electric automobile |
| CN109591568A (en) * | 2017-09-29 | 2019-04-09 | 比亚迪股份有限公司 | Hybrid vehicle and its steady slope control method, device |
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